/*
 * Copyright (C) 2015, Lentin Joseph and Qbotics Labs Inc.
 * Email id : qboticslabs@gmail.com
 *
 *
 * Copyright (C) 2020, Lentin Joseph and Qbotics Labs Inc. and Jonathan Cacace.
 * Email id : qboticslabs@gmail.com jonathan.cacace@gmail.com
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "ros/ros.h" 
#include "mastering_ros_demo_pkg/demo_srv.h" 
#include <iostream> 
#include <sstream> 
using namespace std; 
 
bool demo_service_callback(mastering_ros_demo_pkg::demo_srv::Request &req, 
     mastering_ros_demo_pkg::demo_srv::Response &res) { 
    std::stringstream ss; 
    ss << "Received Here"; 
    res.out = ss.str(); 
    ROS_INFO("From Client [%s], Server says [%s]",req.in.c_str(),res.out.c_str()); 
    return true; 
} 
 
int main(int argc, char **argv) { 
    ros::init(argc, argv, "demo_service_server"); 
    ros::NodeHandle n; 
    ros::ServiceServer service = n.advertiseService("demo_service", demo_service_callback); 
    ROS_INFO("Ready to receive from client."); 
    ros::spin(); 
    return 0; 
} 
